NDLI: Image-based control for cable-based robots

Content Provider	Springer Nature Link
Author	Bouchemal, Billel Zaatri, Abdelouahab
Copyright Year	2014
Abstract	Some human robot interactive applications involved in tele-robotics, remote supervisory and unmanned systems require specific capabilities. This demand has promoted various interactive modes and high-level control techniques such as tele-manipulation, speech, vision, gesture, etc. Among these interactive modes, the image based control which is often named point and click control has proven to be the most appropriate one that offers multiple advantages. This mode consists of only and simply pointing in an appearing object of an image received from a remote site, to convert this click into a robot command towards the corresponding location in the real world space. This mode is suitable for remote applications, frees the human operator from being involved into the loop enabling him/her to use commands in the sense of click and forget. This paper presents, firstly, the design and the realization of an experimental planar cable-based robot constituted of four cables. Secondly, it presents the design and the implementation of a high-level image-based control. Some typical experiments which have been performed prove the simplicity and the effectiveness of the image-based control. Moreover, it opens perspectives for new applications with cable-based robots, particularity for rehabilitation applications.
Starting Page	118
Ending Page	125
Page Count	8
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	12
Issue Number	1
e-ISSN	20054092
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2014-02-01
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Cable-based robot human-robot interaction image-based control point and click robot control Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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